Comparative analysis of continuous sliding-modes control strategies for quad-rotor robust tracking

Romeo Falcón; Héctor Ríos; Alejandro Dzul

doi:10.1016/j.conengprac.2019.06.013

Comparative analysis of continuous sliding-modes control strategies for quad-rotor robust tracking

Romeo Falcón, Héctor Ríos, Alejandro Dzul

Research output: Contribution to journal › Article › peer-review

50 Scopus citations

Abstract

This paper presents a comparative analysis involving four Continuous Sliding-Modes Control (Continuous-SMC) algorithms and a robustified PID control for a Quad-Rotor that can be used to deal with the tracking problem under the influence of external disturbances and uncertainties only by means of the measurable positions and angles. Such an approach is composed of a Finite-Time Sliding-Mode Observer (FT-SMO), which estimates the full state and identifies some type of disturbances, and a robust control strategy for underactuated systems. Several real-time experimental tests are carried out on the Quad-Rotor QBall2 platform by Quanser^{\protect \protect \relax \special {t4ht=} under the influence of wind gusts and load disturbances. A quantitative comparison analysis is performed for all of the proposed controllers in order to illustrate their robustness properties.

Original language	English
Pages (from-to)	241-256
Number of pages	16
Journal	Control Engineering Practice
Volume	90
DOIs	https://doi.org/10.1016/j.conengprac.2019.06.013
State	Published - Sep 2019
Externally published	Yes

Bibliographical note

Publisher Copyright:
© 2019 Elsevier Ltd

Keywords

Continuous sliding-mode control
Quad-rotor
Robust output-based control

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10.1016/j.conengprac.2019.06.013

Cite this

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title = "Comparative analysis of continuous sliding-modes control strategies for quad-rotor robust tracking",

abstract = "This paper presents a comparative analysis involving four Continuous Sliding-Modes Control (Continuous-SMC) algorithms and a robustified PID control for a Quad-Rotor that can be used to deal with the tracking problem under the influence of external disturbances and uncertainties only by means of the measurable positions and angles. Such an approach is composed of a Finite-Time Sliding-Mode Observer (FT-SMO), which estimates the full state and identifies some type of disturbances, and a robust control strategy for underactuated systems. Several real-time experimental tests are carried out on the Quad-Rotor QBall2 platform by Quanser\protect \protect \relax \special {t4ht= under the influence of wind gusts and load disturbances. A quantitative comparison analysis is performed for all of the proposed controllers in order to illustrate their robustness properties.",

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AU - Falcón, Romeo

AU - Ríos, Héctor

AU - Dzul, Alejandro

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N2 - This paper presents a comparative analysis involving four Continuous Sliding-Modes Control (Continuous-SMC) algorithms and a robustified PID control for a Quad-Rotor that can be used to deal with the tracking problem under the influence of external disturbances and uncertainties only by means of the measurable positions and angles. Such an approach is composed of a Finite-Time Sliding-Mode Observer (FT-SMO), which estimates the full state and identifies some type of disturbances, and a robust control strategy for underactuated systems. Several real-time experimental tests are carried out on the Quad-Rotor QBall2 platform by Quanser\protect \protect \relax \special {t4ht= under the influence of wind gusts and load disturbances. A quantitative comparison analysis is performed for all of the proposed controllers in order to illustrate their robustness properties.

AB - This paper presents a comparative analysis involving four Continuous Sliding-Modes Control (Continuous-SMC) algorithms and a robustified PID control for a Quad-Rotor that can be used to deal with the tracking problem under the influence of external disturbances and uncertainties only by means of the measurable positions and angles. Such an approach is composed of a Finite-Time Sliding-Mode Observer (FT-SMO), which estimates the full state and identifies some type of disturbances, and a robust control strategy for underactuated systems. Several real-time experimental tests are carried out on the Quad-Rotor QBall2 platform by Quanser\protect \protect \relax \special {t4ht= under the influence of wind gusts and load disturbances. A quantitative comparison analysis is performed for all of the proposed controllers in order to illustrate their robustness properties.

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KW - Robust output-based control

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JO - Control Engineering Practice

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Comparative analysis of continuous sliding-modes control strategies for quad-rotor robust tracking

Abstract

Bibliographical note

Keywords

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